Open document
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General information |
| Author |
Zhuang, Fu; Hangfei, Zhou; Zijuan, Liu; Jian, Fei; Weixin, Yan; Yanzheng, Zhao |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
Inspired by the bite and swallowing function of
a snake’s mouth, a robot end‐effector grabbing
mechanism was designed. The grabbing movement is
realized by the ‘bite’ function of the bionic snake mouth
actuator, and the ‘swallowing’ function insures a
continuous grip on the object. To implement the
continuous grip function of the new robot end‐effector,
the complex motion of a snake’s mouth is simplified into
three basic movements based on the anatomy of a snake’s
mouth and with a combination of bionics and
engineering. The upper jaw consists of a double four‐bar
linkage mechanism and the lower jaw mechanism
implementing a lateral expansion function are the two
elements of the robot end‐effector. The relationship
model and the corresponding curves of the actuating
force and gripping force are necessary to implement an
open‐loop control of the robot end‐effector. Through
analysis and simulation, linkage parameters are
determined to implement the desired motion. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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